TY - GEN
T1 - Passivity and RISE based robust control for bilateral teleoperation system with communication delay
AU - Kawai, Yasunori
AU - Namerikawa, Toru
PY - 2013/1/1
Y1 - 2013/1/1
N2 - In this paper, a method for passivity- and robust integral of the sign of the error (RISE)-based control of a nonlinear teleoperation system with communication delays is proposed. This control strategy can accurately achieve coordinate positioning under conditions with viscous friction and unmodeled effects compensation errors, and its stability condition is independent of robot model parameter uncertainties and time delay. Using passivity-based stability analysis, the stability and tracking performance of this system are demonstrated, and experimental trials are performed to verify its effectiveness.
AB - In this paper, a method for passivity- and robust integral of the sign of the error (RISE)-based control of a nonlinear teleoperation system with communication delays is proposed. This control strategy can accurately achieve coordinate positioning under conditions with viscous friction and unmodeled effects compensation errors, and its stability condition is independent of robot model parameter uncertainties and time delay. Using passivity-based stability analysis, the stability and tracking performance of this system are demonstrated, and experimental trials are performed to verify its effectiveness.
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U2 - 10.1109/CCA.2013.6662770
DO - 10.1109/CCA.2013.6662770
M3 - Conference contribution
AN - SCOPUS:84902264893
SN - 9781479915590
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 270
EP - 275
BT - 2013 IEEE International Conference on Control Applications, CCA 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2013 IEEE International Conference on Control Applications, CCA 2013
Y2 - 28 August 2013 through 30 August 2013
ER -